This paper is organized as follows. In section 2 we provide theoretical background by describing basic form of ICP and Anderson acceleration, and then
highlight the main theoretic properties for both.
Next, we propose modifications necessary to make Anderson accelerated version of ICP (AA-ICP) to work with the real world data, which is often violates underlying assumptions. In section 3 we provide experimental results, which prove that our modification of ICP with Anderson acceleration achieves significant speed-up (more than \(30\%\) ) and the slight error improvement (\(0.3\%\) ) on dataset from [1]}.
